#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from std_msgs.msg import Float32, Float64, String, Float32MultiArray, Int8
from mavros_msgs.msg import GlobalPositionTarget, State, RCIn, PositionTarget, AttitudeTarget
from mavros_msgs.srv import CommandLong, CommandBool, CommandTOL, SetMode
from geometry_msgs.msg import PoseStamped, Twist, TwistStamped, Point
from sensor_msgs.msg import Imu, NavSatFix, Temperature
from nav_msgs.msg import Odometry




class VelCommander:
    def __init__(self):
        '''
        ros publishers
        '''
        self.mao_triger_pub =  rospy.Publisher('/tube/trigger', Int8, queue_size=1)

        
        '''
        ros subscribers
        '''
        self.vel_cmd_sub = rospy.Subscriber("/tube/vel_cmd", Point, self.vel_cmd_callback)

        self.vel_cmd = [0]*3

    def init(self):
        self.mao_triger_pub.publish(1)

    def vel_cmd_callback(self,msg):
        self.vel_cmd = [
            msg.x,
            msg.y,
            msg.z,
        ]

        


    
    
    
